해양공학수조의 영상추적장치를 이용한 이심이 AUV의 위치추정

Abstract

This paper introduces a position tracking of the autonomous underwater vehicle(AUV) 'ISiMI' in ocean engineering basin. The position tracking system consists of a camera system, a control system and the driving device of CPMC. This paper analyzes the measurement of heading-sensor errors on an AHRS(Attitude Heading Reference System). To analyze the measurement of heading-sensor errors, this paper uses a dead reckoning method. Because of heading and velocity errors, the dead reckoning method accumulates position error. We have estimated the position of the AUV using the velocity and yaw data of ISiMI and CPMC, respectively and compared the result. The yaw angle of ISiMI was distorted due to the moving still structure of CPMC. This paper discuses the position errors for the two methods, and suggests the error bound of the estimated positions.